CPC G01S 17/86 (2020.01) [G01S 13/865 (2013.01); G01S 13/931 (2013.01); G01S 17/931 (2020.01); G01S 2013/93271 (2020.01); G01S 2013/93275 (2020.01)] | 11 Claims |
1. A method of object detection in a scene based on lidar data and radar data of the scene, the method comprising:
transforming the lidar data and the radar data to a common coordinate system;
extracting different radar point clusters from the radar data;
extracting different lidar point clusters from the lidar data and associating each lidar point cluster with a respective target object;
estimating a target object's velocity based on the movement of the respective lidar point cluster between consecutive lidar images; and
comparing the estimated target object's velocity with velocity information of a corresponding radar point cluster to identify corresponding radar and lidar point clusters by comparing a velocity of the center of mass of a lidar point cluster with a velocity of the center of mass of a radar point cluster.
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